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<p class="heading"><span class="smallhead">Professional</span><br />&nbsp;&nbsp;&nbsp;Microsoft Robotics Developer Studio<br />
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<h1>VPLExplorer Program</h1>

<h2>Purpose</h2>
<p>
This program is similar to the <a href="../Chapter9/Explorer.htm">ExplorerSim</a> in Chapter 9, except that it
works in VPL. It is based on the
<a href="http://channel9.msdn.com/ShowPost.aspx?PostID=270510">VPLExplorer code</a> by Paul Roberts
that was posted to Channel 9, but this version has several modifications.
</p>

<h2>Description</h2>

<p>
The following is a screenshot of VPLExplorer in action:
</p>
<img src="Images/VPLExplorer_Sim.JPG" alt="VPLExplorer" />

<p>
You can leave VPLExplorer alone and the Pioneer robot will wander around
without bumping into the obstacles using its Laser Range Finder.
</p>
<p>
However, you can also take over control of the robot if you have
an Xbox controller.
If you hold down the Right Shoulder button, the robot goes into Manual mode.
In Manual mode, the controls work as follows:
</p>
<ul>
<li>Left thumbstick turns the robot (left or right only)</li>
<li>Left trigger moves the robot backward</li>
<li>Right trigger moves the robot forward.</li>
</ul>
<p>
Actually, the value of the Left trigger is subtracted from the Right
trigger, so it is possible to squeeze them both at the same time
and have them cancel out, i.e. no net forward/backward motion.
</p>
<p>
In Manual mode, the controller vibration is used to indicate when the robot is close to an obstacle.
This can be a little disconcerting, especially if you are not an accomplished gamer -- driving
the robot requires you to hold down the right sholder, press the right trigger and move the
left thumbstick, all while the controller is trying to jump out of your hands.
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